// Copyright (c) 2012, Willow Garage, Inc.
// Copyright (c) 2017, Open Source Robotics Foundation, Inc.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
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//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
//      documentation and/or other materials provided with the distribution.
//
//    * Neither the name of the copyright holder nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#include <utility>

#include <OgreRay.h>
#include <OgrePlane.h>
#include <OgreCamera.h>
#include <OgreSceneNode.h>
#include <OgreViewport.h>

#include "rviz_rendering/geometry.hpp"

namespace rviz_rendering
{

float mapAngleTo0_2Pi(float angle)
{
  angle = fmod(angle, Ogre::Math::TWO_PI);

  if (angle < 0.0f) {
    angle = Ogre::Math::TWO_PI + angle;
  }
  return angle;
}

Ogre::Vector2 project3DPointToViewportXY(const Ogre::Viewport * view, const Ogre::Vector3 & pos)
{
  Ogre::Camera * cam = view->getCamera();
  Ogre::Vector3 pos2D = cam->getProjectionMatrix() * (cam->getViewMatrix() * pos);

  Ogre::Real x = static_cast<Ogre::Real>((pos2D.x * 0.5) + 0.5);
  Ogre::Real y = static_cast<Ogre::Real>(1 - ((pos2D.y * 0.5) + 0.5));

  return Ogre::Vector2(x * view->getActualWidth(), y * view->getActualHeight());
}

}  // namespace rviz_rendering
